Miniature servo valves control quadruped robot
3rd Quarter 2015
Editor's Choice
Robotics & Mechatronics
A team of researchers from the Istituto Italiano di Tecnologia (IIT) based in Genova, Italy selected Moog Industrial Group, a designer, manufacturer and integrator of precision control components and systems, to provide a miniature servo valve to optimise control of the legs of a new quadruped robot. The robot called HyQ, or Hydraulically actuated Quadruped, was created to help humans in emergency situations and during search and rescue operations in dangerous areas.
“The project, started in 2007, represents an important innovation in the field of bio-inspired robotics and has the ambitious goal of creating a highly versatile robot capable of moving around on its four legs with agility, even over rough terrains, overcoming the obvious limitations of tracked robots being used up to now,” explains Claudio Semini, project leader engineer at the Advanced Robotics Department of IIT. “For this reason we chose the hydraulic solution for HyQ over the electric one, as it guarantees us higher performance and power, strength and improved control of the legs.”
The design of the ‘actively compliant’ legs was a key element in the development of HyQ because the miniature valve allowed for the rapid modification of the hydraulic flow to the moving parts, enabling modulation of the rigidity/elasticity of the limbs and absorbing the shock of impact when the legs hit the ground, thereby preventing damage to the central body. Moog’s miniature valves fully satisfied the researchers’ need for compact size hydraulic servo valves capable of guaranteeing high performance oil flow control and maximum strength. The E024 series was originally developed for use on F1 automobiles. Its key advantage in motorsport applications is the high power density of the technology in an ultra-light weight design weighing just 92 g.
HyQ represents a complex engineering project made up of mechanical, hydraulic and IT elements and the results to date have been described as remarkable by experts in the industry. This robot can jump or walk on a rocky trail or along a corridor with V-shaped slanted sides, run at different speeds up to 2 m/s and adjust its speed in response to different environments. The installation of a perception system and an inertial measurement unit (IMU) enable the robot to plan its own movements based on a map of the surrounding environment, and correct its steps in real time while always maintaining its pre-determined posture. HyQ is also one of the few robots capable of doing the flying trot, where all four legs lift off the ground. The HyQ can be seen in action at http://tinyurl.com/q7oxl6d
Daniele Masciocchi, sales manager of Moog Italia commented, “Our ongoing cooperation with the Research Team of the IIT for the development of the quadruped robot represents an important best practice and is an indication of Moog’s ability to create specific and highly innovative motion control solutions such as miniaturised systems and components used in various types of industries ranging from robots to Formula 1.”
Claudio Semini, project leader engineer of the Advanced Robotics department of the Istituto Italiano di Tecnologia says: “We are very proud of the enormous progress we have made, but our work is not finished yet. HyQ currently is almost one metre long and weighs about 80 kg. We are still working on the power source system, currently managed through an external unit, in an effort to mount it directly on board, even though it will increase the weight. We are trying to set up new partnerships with companies like Moog that are capable of meeting our needs for components that are smaller and lighter, yet high performance.”
For more information visit www.iit.it/hyq or contact Willie Steyn, Moog, +27 (0)12 653 6768, [email protected], www.moog.com
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